init after task creation moved to task functionality

This commit is contained in:
Robin Müller 2020-08-27 15:57:47 +02:00
parent 9465c8f2b2
commit 02be87aa03
2 changed files with 271 additions and 266 deletions

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@ -1,138 +1,143 @@
#include "PeriodicTask.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../tasks/ExecutableObjectIF.h"
PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod setPeriod,
TaskDeadlineMissedFunction deadlineMissedFunc) :
started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
deadlineMissedFunc)
{
configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
BaseType_t status = xTaskCreate(taskEntryPoint, name,
stackSize, this, setPriority, &handle);
if(status != pdPASS){
sif::debug << "PeriodicTask Insufficient heap memory remaining. "
"Status: " << status << std::endl;
}
}
PeriodicTask::~PeriodicTask(void) {
//Do not delete objects, we were responsible for ptrs only.
}
void PeriodicTask::taskEntryPoint(void* argument) {
// The argument is re-interpreted as PeriodicTask. The Task object is
// global, so it is found from any place.
PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
/* Task should not start until explicitly requested,
* but in FreeRTOS, tasks start as soon as they are created if the scheduler
* is running but not if the scheduler is not running.
* To be able to accommodate both cases we check a member which is set in
* #startTask(). If it is not set and we get here, the scheduler was started
* before #startTask() was called and we need to suspend if it is set,
* the scheduler was not running before #startTask() was called and we
* can continue */
if (not originalTask->started) {
vTaskSuspend(NULL);
}
originalTask->taskFunctionality();
sif::debug << "Polling task " << originalTask->handle
<< " returned from taskFunctionality." << std::endl;
}
ReturnValue_t PeriodicTask::startTask() {
started = true;
// We must not call resume if scheduler is not started yet
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
vTaskResume(handle);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
vTaskDelay(pdMS_TO_TICKS(ms));
return HasReturnvaluesIF::RETURN_OK;
}
void PeriodicTask::taskFunctionality() {
TickType_t xLastWakeTime;
const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
/* The xLastWakeTime variable needs to be initialized with the current tick
count. Note that this is the only time the variable is written to
explicitly. After this assignment, xLastWakeTime is updated automatically
internally within vTaskDelayUntil(). */
xLastWakeTime = xTaskGetTickCount();
/* Enter the loop that defines the task behavior. */
for (;;) {
for (auto const& object: objectList) {
object->performOperation();
}
checkMissedDeadline(xLastWakeTime, xPeriod);
vTaskDelayUntil(&xLastWakeTime, xPeriod);
}
}
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
object);
if (newObject == nullptr) {
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
"it implement ExecutableObjectIF" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(newObject);
newObject->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t PeriodicTask::getPeriodMs() const {
return period * 1000;
}
void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
const TickType_t interval) {
/* Check whether deadline was missed while also taking overflows
* into account. Drawing this on paper with a timeline helps to understand
* it. */
TickType_t currentTickCount = xTaskGetTickCount();
TickType_t timeToWake = xLastWakeTime + interval;
// Time to wake has not overflown.
if(timeToWake > xLastWakeTime) {
/* If the current time has overflown exclusively or the current
* tick count is simply larger than the time to wake, a deadline was
* missed */
if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
handleMissedDeadline();
}
}
/* Time to wake has overflown. A deadline was missed if the current time
* is larger than the time to wake */
else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
handleMissedDeadline();
}
}
TaskHandle_t PeriodicTask::getTaskHandle() {
return handle;
}
void PeriodicTask::handleMissedDeadline() {
#ifdef DEBUG
sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
" missed deadline!\n" << std::flush;
#endif
if(deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}
}
#include "PeriodicTask.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../tasks/ExecutableObjectIF.h"
PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod setPeriod,
TaskDeadlineMissedFunction deadlineMissedFunc) :
started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
deadlineMissedFunc)
{
configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
BaseType_t status = xTaskCreate(taskEntryPoint, name,
stackSize, this, setPriority, &handle);
if(status != pdPASS){
sif::debug << "PeriodicTask Insufficient heap memory remaining. "
"Status: " << status << std::endl;
}
}
PeriodicTask::~PeriodicTask(void) {
//Do not delete objects, we were responsible for ptrs only.
}
void PeriodicTask::taskEntryPoint(void* argument) {
// The argument is re-interpreted as PeriodicTask. The Task object is
// global, so it is found from any place.
PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
/* Task should not start until explicitly requested,
* but in FreeRTOS, tasks start as soon as they are created if the scheduler
* is running but not if the scheduler is not running.
* To be able to accommodate both cases we check a member which is set in
* #startTask(). If it is not set and we get here, the scheduler was started
* before #startTask() was called and we need to suspend if it is set,
* the scheduler was not running before #startTask() was called and we
* can continue */
if (not originalTask->started) {
vTaskSuspend(NULL);
}
originalTask->taskFunctionality();
sif::debug << "Polling task " << originalTask->handle
<< " returned from taskFunctionality." << std::endl;
}
ReturnValue_t PeriodicTask::startTask() {
started = true;
// We must not call resume if scheduler is not started yet
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
vTaskResume(handle);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
vTaskDelay(pdMS_TO_TICKS(ms));
return HasReturnvaluesIF::RETURN_OK;
}
void PeriodicTask::taskFunctionality() {
TickType_t xLastWakeTime;
const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
for (auto const& object: objectList) {
object->initializeAfterTaskCreation();
}
/* The xLastWakeTime variable needs to be initialized with the current tick
count. Note that this is the only time the variable is written to
explicitly. After this assignment, xLastWakeTime is updated automatically
internally within vTaskDelayUntil(). */
xLastWakeTime = xTaskGetTickCount();
/* Enter the loop that defines the task behavior. */
for (;;) {
for (auto const& object: objectList) {
object->performOperation();
}
checkMissedDeadline(xLastWakeTime, xPeriod);
vTaskDelayUntil(&xLastWakeTime, xPeriod);
}
}
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
object);
if (newObject == nullptr) {
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
"it implement ExecutableObjectIF" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(newObject);
newObject->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t PeriodicTask::getPeriodMs() const {
return period * 1000;
}
void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
const TickType_t interval) {
/* Check whether deadline was missed while also taking overflows
* into account. Drawing this on paper with a timeline helps to understand
* it. */
TickType_t currentTickCount = xTaskGetTickCount();
TickType_t timeToWake = xLastWakeTime + interval;
// Time to wake has not overflown.
if(timeToWake > xLastWakeTime) {
/* If the current time has overflown exclusively or the current
* tick count is simply larger than the time to wake, a deadline was
* missed */
if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
handleMissedDeadline();
}
}
/* Time to wake has overflown. A deadline was missed if the current time
* is larger than the time to wake */
else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
handleMissedDeadline();
}
}
TaskHandle_t PeriodicTask::getTaskHandle() {
return handle;
}
void PeriodicTask::handleMissedDeadline() {
#ifdef DEBUG
sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
" missed deadline!\n" << std::flush;
#endif
if(deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}
}

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@ -1,128 +1,128 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../tasks/PeriodicTaskIF.h"
#include "../../tasks/Typedef.h"
#include "FreeRTOSTaskIF.h"
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include <vector>
class ExecutableObjectIF;
/**
* @brief This class represents a specialized task for
* periodic activities of multiple objects.
* @ingroup task_handling
*/
class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF {
public:
/**
* Keep in Mind that you need to call before this vTaskStartScheduler()!
* A lot of task parameters are set in "FreeRTOSConfig.h".
* TODO: why does this need to be called before vTaskStartScheduler?
* @details
* The class is initialized without allocated objects.
* These need to be added with #addComponent.
* @param priority
* Sets the priority of a task. Values depend on freeRTOS configuration,
* high number means high priority.
* @param stack_size
* The stack size reserved by the operating system for the task.
* @param setPeriod
* The length of the period with which the task's
* functionality will be executed. It is expressed in clock ticks.
* @param setDeadlineMissedFunc
* The function pointer to the deadline missed function that shall
* be assigned.
*/
PeriodicTask(TaskName name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod setPeriod,
TaskDeadlineMissedFunction deadlineMissedFunc);
/**
* @brief Currently, the executed object's lifetime is not coupled with
* the task object's lifetime, so the destructor is empty.
*/
virtual ~PeriodicTask(void);
/**
* @brief The method to start the task.
* @details The method starts the task with the respective system call.
* Entry point is the taskEntryPoint method described below.
* The address of the task object is passed as an argument
* to the system call.
*/
ReturnValue_t startTask() override;
/**
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
* @param object Id of the object to add.
* @return
* -@c RETURN_OK on success
* -@c RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(object_id_t object) override;
uint32_t getPeriodMs() const override;
ReturnValue_t sleepFor(uint32_t ms) override;
TaskHandle_t getTaskHandle() override;
protected:
bool started;
TaskHandle_t handle;
//! Typedef for the List of objects.
typedef std::vector<ExecutableObjectIF*> ObjectList;
/**
* @brief This attribute holds a list of objects to be executed.
*/
ObjectList objectList;
/**
* @brief The period of the task.
* @details
* The period determines the frequency of the task's execution.
* It is expressed in clock ticks.
*/
TaskPeriod period;
/**
* @brief The pointer to the deadline-missed function.
* @details
* This pointer stores the function that is executed if the task's deadline
* is missed so each may react individually on a timing failure.
* The pointer may be NULL, then nothing happens on missing the deadline.
* The deadline is equal to the next execution of the periodic task.
*/
void (*deadlineMissedFunc)(void);
/**
* @brief This is the function executed in the new task's context.
* @details
* It converts the argument back to the thread object type and copies the
* class instance to the task context. The taskFunctionality method is
* called afterwards.
* @param A pointer to the task object itself is passed as argument.
*/
static void taskEntryPoint(void* argument);
/**
* @brief The function containing the actual functionality of the task.
* @details
* The method sets and starts the task's period, then enters a loop that is
* repeated as long as the isRunning attribute is true. Within the loop,
* all performOperation methods of the added objects are called.
* Afterwards the checkAndRestartPeriod system call blocks the task until
* the next period.
* On missing the deadline, the deadlineMissedFunction is executed.
*/
void taskFunctionality(void);
void checkMissedDeadline(const TickType_t xLastWakeTime,
const TickType_t interval);
void handleMissedDeadline();
};
#endif /* PERIODICTASK_H_ */
#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../tasks/PeriodicTaskIF.h"
#include "../../tasks/Typedef.h"
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include <vector>
class ExecutableObjectIF;
/**
* @brief This class represents a specialized task for
* periodic activities of multiple objects.
* @ingroup task_handling
*/
class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF {
public:
/**
* Keep in Mind that you need to call before this vTaskStartScheduler()!
* A lot of task parameters are set in "FreeRTOSConfig.h".
* TODO: why does this need to be called before vTaskStartScheduler?
* @details
* The class is initialized without allocated objects.
* These need to be added with #addComponent.
* @param priority
* Sets the priority of a task. Values depend on freeRTOS configuration,
* high number means high priority.
* @param stack_size
* The stack size reserved by the operating system for the task.
* @param setPeriod
* The length of the period with which the task's
* functionality will be executed. It is expressed in clock ticks.
* @param setDeadlineMissedFunc
* The function pointer to the deadline missed function that shall
* be assigned.
*/
PeriodicTask(TaskName name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod setPeriod,
TaskDeadlineMissedFunction deadlineMissedFunc);
/**
* @brief Currently, the executed object's lifetime is not coupled with
* the task object's lifetime, so the destructor is empty.
*/
virtual ~PeriodicTask(void);
/**
* @brief The method to start the task.
* @details The method starts the task with the respective system call.
* Entry point is the taskEntryPoint method described below.
* The address of the task object is passed as an argument
* to the system call.
*/
ReturnValue_t startTask() override;
/**
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
* @param object Id of the object to add.
* @return
* -@c RETURN_OK on success
* -@c RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(object_id_t object) override;
uint32_t getPeriodMs() const override;
ReturnValue_t sleepFor(uint32_t ms) override;
TaskHandle_t getTaskHandle() override;
protected:
bool started;
TaskHandle_t handle;
//! Typedef for the List of objects.
typedef std::vector<ExecutableObjectIF*> ObjectList;
/**
* @brief This attribute holds a list of objects to be executed.
*/
ObjectList objectList;
/**
* @brief The period of the task.
* @details
* The period determines the frequency of the task's execution.
* It is expressed in clock ticks.
*/
TaskPeriod period;
/**
* @brief The pointer to the deadline-missed function.
* @details
* This pointer stores the function that is executed if the task's deadline
* is missed so each may react individually on a timing failure.
* The pointer may be NULL, then nothing happens on missing the deadline.
* The deadline is equal to the next execution of the periodic task.
*/
void (*deadlineMissedFunc)(void);
/**
* @brief This is the function executed in the new task's context.
* @details
* It converts the argument back to the thread object type and copies the
* class instance to the task context. The taskFunctionality method is
* called afterwards.
* @param A pointer to the task object itself is passed as argument.
*/
static void taskEntryPoint(void* argument);
/**
* @brief The function containing the actual functionality of the task.
* @details
* The method sets and starts the task's period, then enters a loop that is
* repeated as long as the isRunning attribute is true. Within the loop,
* all performOperation methods of the added objects are called.
* Afterwards the checkAndRestartPeriod system call blocks the task until
* the next period.
* On missing the deadline, the deadlineMissedFunction is executed.
*/
void taskFunctionality(void);
void checkMissedDeadline(const TickType_t xLastWakeTime,
const TickType_t interval);
void handleMissedDeadline();
};
#endif /* PERIODICTASK_H_ */